Robot control device, robot, and computer program product

Abstract

The invention provides a robot control device, a robot, and a computer program product. The robot is prevented from executing unnatural actions. A robot control device controls a robot provided with a sensor for detecting external stimulation. A processing unit of a robot control device invalidates the execution of a process corresponding to an external stimulus detected by a sensor on the basis of the type of behavior being executed by the robot every time the robot is caused to execute the process corresponding to the external stimulus (steps S103 to S108). For example, with respect to an external stimulus belonging to a certain group, the robot is caused to execute a process corresponding to the external stimulus regardless of the execution behavior. Furthermore, with respect to the external stimulus belonging to the other group, the robot is caused to execute a process corresponding to the external stimulus when the execution of the external stimulus is spontaneous, and the robot is not caused to execute a process corresponding to the external stimulus when the execution of the external stimulus is not spontaneous.

Description

[0001] Cross-referencing of related applications

[0002] This application claims priority and interest in Japanese Patent Application No. 2024-100974, filed on June 24, 2024. The entire description, claims, and drawings of Japanese Patent Application No. 2024-100974 are incorporated herein by reference. Technical Field

[0003] This disclosure relates to robot control devices, robots, robot control methods, and computer program products. Background Technology

[0004] Previously, techniques were known for enabling robots to perform given responsive actions based on external stimuli such as user calls (see, for example, JP 2003-326479). Summary of the Invention

[0005] However, if a robot is made to react uniformly to external stimuli, its actions may sometimes become unnatural, depending on how it is placed. For example, if the robot's own movements (behavior) are detected by sensors in relation to its surroundings, such as contact or sound, the robot may react unnaturally.

[0006] This disclosure is made in view of the problems in the prior art described above, and the objective is to suppress robots from performing unnatural actions.

[0007] To address the aforementioned issues, the robot control device disclosed herein includes: a sensor that detects external stimuli; and a processing unit that, whenever the robot performs a process corresponding to the external stimulus, invalidates the execution of the process corresponding to the external stimulus detected by the sensor based on the type of behavior performed by the robot, thereby stopping the detection of the external stimulus by the sensor, or reducing the sensitivity of the sensor in detecting the external stimulus.

[0008] According to this disclosure, it is possible to suppress robots from performing unnatural actions. Attached Figure Description

[0009] Figure 1 This is a diagram showing the appearance of a robot.

[0010] Figure 2 This is a schematic diagram showing the structure of the robot's main body.

[0011] Figure 3 It is a block diagram representing the functional structure of a robot.

[0012] Figure 4This is a schematic cross-sectional view of the robot stored in the power supply unit.

[0013] Figure 5 It is a diagram used to illustrate the grouping of external stimuli.

[0014] Figure 6 It is a flowchart representing the control steps of motion control processing.

[0015] Figure 7 It is a flowchart representing the control steps for performing judgment and processing on the response behavior.

[0016] Figure 8 This is a timing diagram representing an example of actions in a robot without external stimuli.

[0017] Figure 9 This is a timing diagram representing an example of action in a robot that generates external stimuli. Detailed Implementation

[0018] The embodiments of this disclosure will now be described with reference to the accompanying drawings. Figure 1 As shown, Robot 1 comprises: a main body 100; and an outer casing 200 covering the main body 100. Robot 1 is a pet robot that mimics small creatures. Robot 1 can perform various actions that imitate the behavior of living beings. The outer casing 200 transforms in response to the movements of the main body 100. The outer casing 200 includes fur formed from plush fabric, decorative components that mimic eyes, and so on. With AI (Artificial Intelligence) integrated into Robot 1, Robot 1 possesses learning functions such as transforming its movements to expand its capabilities and enhancing its ability to communicate with users.

[0019] like Figure 2As shown, the main body 100 of robot 1 includes: a head 101; a torso 103; and a connecting portion 102 connecting the head 101 and the torso 103. Hereinafter, the portion of robot 1 corresponding to the head 101 may be referred to as the "neck". The main body 100 has a drive unit 40 for moving the head 101 relative to the torso 103. The drive unit 40 includes a torsion motor 41 and a vertical movement motor 42. The torsion motor 41 is a servo motor that rotates the head 101 and the connecting portion 102 within a given angular range about a first rotation axis 401 extending in the extending direction of the connecting portion 102. The movement of the torsion motor 41 enables the robot 1 to twist its neck. The vertical movement motor 42 is a servo motor that rotates the head 101 within a given angular range about a second rotation axis 402 orthogonal to the first rotation axis 401. The vertical movement motor 42 enables the robot 1 to move its neck up and down. Depending on the angle of neck twisting caused by the torsion motor 41, the direction of neck up and down movement will also become an inclination relative to the vertical direction. By making the torsion motor 41 and / or the up and down movement motor 42 move in small, periodic motions, the robot 1 can achieve the activity of shaking or trembling its neck. By appropriately changing the timing, magnitude, and speed of the movements of the torsion motor 41 and the up and down movement motor 42, the robot 1 can perform various behaviors, such as joyful behaviors, surprised behaviors, and breathing behaviors that mimic biological breathing.

[0020] The main body 100 includes a touch sensor 51, an accelerometer 52, a gyroscope 53, an illuminance sensor 54, a microphone 55, a sound output unit 30, and a power receiving coil 73. The touch sensor 51 is located on the upper part of the head 101, the upper part of the torso 103, and the sides. Alternatively, the touch sensor 51 may be located on the connecting part 102. The illuminance sensor 54, microphone 55, and sound output unit 30 are located on the upper part of the torso 103. The accelerometer 52 and gyroscope 53 are located on the lower part of the torso 103. The power receiving coil 73 is located near the lower surface of the torso 103.

[0021] like Figure 3 As shown, robot 1 includes a CPU 11 (Central Processing Unit), RAM 12 (Random Access Memory), storage unit 13, operation unit 20, sound output unit 30, drive unit 40, sensor unit 50, communication unit 60, and power supply unit 70. The various parts of robot 1 are connected via communication paths such as buses. Figure 3 All the functional structures shown are located in the main body 100. The robot control device 10, which controls the movement of the robot 1, is constructed by the CPU 11, RAM 12 and storage unit 13.

[0022] CPU 11 is a processor (processing unit) that reads and executes the program 131 stored in storage unit 13, performs various arithmetic operations, and controls the actions of robot 1. Alternatively, robot 1 may have multiple processors (e.g., multiple CPUs), and these multiple processors may execute multiple processes performed by CPU 11 in this embodiment. In this case, the processing unit is composed of multiple processors. In this case, multiple processors may participate in common processing, or multiple processors may independently execute different processes in parallel. RAM 12 provides memory space for CPU 11 to operate on, storing temporary data.

[0023] Storage unit 13 is a non-temporary recording medium that can be read by CPU 11, which is a computer, and stores program 131 and various data. Storage unit 13 may include non-volatile memory such as flash memory. Program 131 is stored in storage unit 13 in the form of program code that can be read by a computer. As data stored in storage unit 13, there are motion setting data 132, etc. The motion setting data 132 sets the actions (reaction behaviors) that robot 1 will perform based on the state of robot 1, the content of external stimuli, etc., and the spontaneous behaviors that robot 1 will perform spontaneously without relying on external stimuli. The settings involved in the motion content include, for example, the setting of the motion timing and motion amount of the torsion motor 41 and the up and down movement motor 42 of drive unit 40, and the setting of the pitch, length and volume of the sound output by sound output unit 30. A correspondence is established between given conditions and the behaviors performed when the given conditions are met and the motion setting data 132.

[0024] The operation unit 20 includes operation buttons and operation knobs for power on / off, volume adjustment based on the output sound from the sound output unit 30, etc. The operation unit 20 outputs operation information corresponding to the input operations of the operation buttons and operation knobs to the CPU 11. The sound output unit 30 includes a speaker that outputs sound with pitch, length, and volume corresponding to the control signals and sound data sent from the CPU 11. This sound can be an imitation of a biological call. The drive unit 40 can operate the aforementioned torsion motor 41 and up / down movement motor 42 according to the control signals sent from the CPU 11.

[0025] The sensor unit 50 includes the aforementioned touch sensor 51, accelerometer 52, gyroscope sensor 53, illuminance sensor 54, and microphone 55, and outputs the detection results based on each sensor and microphone 55 to the CPU 11. The touch sensor 51, accelerometer 52, gyroscope sensor 53, illuminance sensor 54, and microphone 55 function as "sensors for detecting external stimuli." The touch sensor 51 detects contact between the user, other objects, and the robot 1. The touch sensor 51 may include, for example, a pressure sensor or a capacitive sensor, and outputs detection data regarding the presence or absence of contact with the robot 1 to the CPU 11. If the touch sensor 51 includes a pressure sensor, it also outputs the intensity of the contact with the robot 1 to the CPU 11. The accelerometer 52 detects acceleration in each of the three orthogonal axes and outputs the detection data to the CPU 11. The gyroscope sensor 53 detects angular velocity in each of the three orthogonal axes and outputs the detection data to the CPU 11. Illumination sensor 54 detects the brightness around robot 1 and outputs the detection data to CPU 11. Microphone 55 detects sound around robot 1 and outputs the detected sound data to CPU 11. In addition, sensor unit 50 may include a sensor that detects when the power button of operation unit 20 is pressed.

[0026] The communication unit 60 is a communication module that includes an antenna, modulation and demodulation circuits, signal processing circuits, etc., and performs wireless data communication with external devices according to a given communication standard.

[0027] The power supply unit 70 includes a battery 71, a remaining power detection unit 72, and a power receiving coil 73. The battery 71 supplies power to various parts of the robot 1. In this embodiment, the battery 71 is a rechargeable battery capable of being repeatedly charged via contactless charging. The remaining power detection unit 72 detects the remaining power of the battery 71 according to a control signal sent from the CPU 11 and outputs the detection result to the CPU 11. Figure 4 As shown, the battery 71 is charged while the robot 1 is stored (set) inside the dedicated power supply 80 (storage unit, charging dock). Figure 4For ease of explanation, a cross-section of the power supply unit 80 is shown, and a side view of the robot 1 is shown. The power supply unit 80 has an appearance that mimics the outer casing of the robot 1. The power supply unit 80 is a container with a length and width approximately the same as the robot 1. The power supply unit 80 has an opening at the top, through which the robot 1 can enter and exit. The power supply unit 80 has a shape that, when the robot 1 is stored, contacts the bottom surface 1a of the robot 1 and can contact at least a portion of the side surface 1b of the robot 1. At the bottom of the power supply unit 80, in a position opposite to the receiving coil 73 when the robot 1 is stored, a power supply coil 81 is provided. When the power supply unit 80 detects that the robot 1 is stored, current flows through the power supply coil 81, thereby generating a magnetic field. The receiving coil 73 of the robot 1 supplies a current generated by electromagnetic induction based on this magnetic field to the battery 71. With this structure, when the robot 1 is stored in the power supply unit 80, the charging operation of the battery 71 is automatically started. In addition, the charging method of the battery 71 is not limited to non-contact charging, but can also be a contact charging method that brings the charging terminals of the robot 1 and the power supply 80 into contact with each other.

[0028] Next, the behavior of robot 1 will be described. When an external stimulus is detected by sensor unit 50, CPU 11 causes robot 1 to perform processing (response behavior) corresponding to the detected external stimulus. External stimuli include, for example, changes in the state of robot 1 detected by touch sensor 51, accelerometer 52, gyroscope sensor 53, etc., the brightness around robot 1 detected by illuminance sensor 54, and sounds around robot 1 detected by microphone 55. Response behavior includes actions based on drive unit 40, and calls from sound output unit 30, etc.

[0029] When a change in the state (contact, movement, orientation, etc.) of robot 1 is detected as an external stimulus, CPU 11 causes robot 1 to perform a given reaction behavior pre-registered in motion setting data 132. CPU 11 detects the state of robot 1 based on detection signals from touch sensor 51, accelerometer 52, and gyroscope sensor 53. The state of robot 1 may be, for example, a state in which robot 1 is lifted, held, or touched.

[0030] Upon detecting a loud sound as an external stimulus, the CPU 11 causes the robot 1 to perform a surprised reaction behavior pre-registered in the action setting data 132. If the microphone 55 detects a sound with a volume greater than a given value, the CPU 11 determines that a loud sound has been detected.

[0031] When the external stimulus of a user's voice (hereinafter referred to as "the voice") that has spoken to the robot 1 is detected, the CPU 11 causes the robot 1 to perform a cheerful response behavior pre-registered in the action setting data 132. When the microphone 55 detects a sound within a given volume range, the CPU 11 determines that a voice has been detected. The CPU 11 can determine that a voice has been detected by performing sound recognition on the sound data detected by the microphone 55. Sound recognition is not limited to processing the content of the conversation; it can also be simply processing the recognition of a human voice. Furthermore, the CPU 11 can also recognize the voices of individual users, thereby responding only to users who are essentially caregivers.

[0032] When the detection of robot 1 being stored in power supply unit 80 (stored state, placed in outer casing) as an external stimulus, CPU 11 causes robot 1 to perform a given response behavior pre-registered in action setting data 132. If power supply unit 70 is charging battery 71 through power receiving coil 73, CPU 11 determines that robot 1 is stored in power supply unit 80. If power supply unit 70 is not charging battery 71, CPU 11 determines that robot 1 has been removed from power supply unit 80 (non-stored state). Alternatively, CPU 11 can also determine whether robot 1 is in a stored state using other methods. For example, sensor unit 50 can be equipped with a sensor to detect whether robot 1 is stored in power supply unit 80, and CPU 11 can determine whether robot 1 is in a stored state based on the detection result of this sensor.

[0033] Even without external stimuli, the CPU 11 causes the robot 1 to perform a given spontaneous action registered in the action setting data 132, provided that the execution conditions for spontaneous action are met. The execution conditions for spontaneous action can be, for example, set to a state without external stimuli for a given duration, but are not limited to this. Multiple spontaneous actions can be registered, and the CPU 11 randomly selects an action from among them. The CPU 11 causes the robot 1 to repeatedly perform a breathing action at a given frequency as one of the spontaneous actions. This makes the robot 1 appear more like a living organism. Spontaneous actions other than breathing are referred to as "automatically generated action actions." That is, "spontaneous action" is either "breathing action" or "automatically generated action action." Examples of automatically generated action actions include mimicking tilting the neck to one side, mimicking trembling, and mimicking resting postures.

[0034] Next, the outline of this disclosure will be explained. In order to respond to user operations (touch, talk) during the execution of a certain action, the CPU 11 continuously acquires sensor values ​​based on the sensor unit 50. Whenever the CPU 1 causes the robot 1 to perform processing corresponding to external stimuli, it invalidates the execution of the processing corresponding to the external stimuli detected by the sensors (sensor unit 50, etc.) based on the type of action performed by the robot 1.

[0035] CPU11 determines whether to cause robot 1 to perform a corresponding treatment based on the group to which the external stimulus belongs. Figure 5 Examples of external stimuli belonging to each group are shown in the case where external stimuli are categorized into multiple groups. External stimuli belonging to group A are the type of stimuli that will not occur unless the user consciously performs an action; these are stimuli that the robot 1 should always respond to. Group A includes the placement of the outer casing (for storing the power supply 80) and abrupt changes in the gyroscope sensor 53. Examples of abrupt changes in the gyroscope sensor 53 include the robot 1 falling, rotating, swinging, and suddenly rising.

[0036] External stimuli belonging to Group B are types of stimuli that are likely to be falsely detected during the execution of actions with a relatively large amount of movement. Since breathing actions or automatically generated actions involve less movement, it is difficult to generate false detections of external stimuli belonging to Group B even during the execution of breathing actions or automatically generated actions. Therefore, CPU 11 only executes processing corresponding to external stimuli belonging to Group B during breathing actions or automatically generated actions, or when actions are not being executed. On the other hand, during actions other than breathing actions and automatically generated actions, CPU 11 does not execute processing corresponding to external stimuli belonging to Group B to prevent false detection. Group B includes swinging, rolling over, turning over, horizontal stroking of the body, picking up, stroking the body while holding, stroking the neck, and making loud noises. Swinging is a rotation of the head 101 and torso 103 centered on the first rotation axis 401. Rolling over is an operation that moves the belly side (lower surface) of the robot 1's torso 103 towards the vertical direction. "Invert" means operating with the head 101 of robot 1 facing downwards in the vertical direction. "Horizontal stroking the body" means stroking the torso 103 of robot 1 with the belly side facing downwards in the vertical direction. "Holding up" means stroking the robot 1 with your hands. "Holding and stroking the body" means stroking the torso 103 while holding robot 1. "Stroking the neck" means stroking the connecting part 102 of robot 1.

[0037] External stimuli belonging to group C are those with a higher probability of false detection compared to external stimuli belonging to group B. The touch sensor 51 on the head 101 of robot 1 detects contact based on the misalignment and friction of the fur (outer casing 200) during motor movement. Therefore, the CPU 11 executes processing corresponding to "head stroking" only during breathing movements with very little movement, or when there is no movement being performed. Furthermore, the CPU 11 learns the user's voice only when the average volume (dB) over a certain period is within a given range. During motor movement, the robot 1's own operating sound is input to the microphone 55, and sometimes the average volume over a certain period falls within a given range. Therefore, the CPU 11 only enables responses corresponding to speaking during breathing movements, or when there is no movement being performed. Group C includes horizontal head stroking, hugging head stroking, and speaking (voice recognition). Horizontal head stroking is the operation of the user stroking the head 101 with the belly side of the robot 1's torso 103 facing downwards in the vertical direction. "Holding and stroking the head" refers to the user stroking the head 101 while holding the robot 1.

[0038] When the behavior performed by robot 1 is spontaneous, CPU 11 causes robot 1 to perform processing corresponding to external stimuli. When the behavior performed by robot 1 is not spontaneous, CPU 11 does not cause robot 1 to perform processing corresponding to external stimuli. Furthermore, in determining whether the behavior performed by robot 1 is spontaneous, spontaneous behavior can be limited to behaviors that mimic breathing (breathing behaviors).

[0039] Next, refer to Figure 6 The motion control processing performed by CPU 11 will be explained below. Motion control processing begins when the power to robot 1 is turned on (power button pressed). Upon starting motion control processing, CPU 11 initializes each part of robot 1 (step S101). Next, CPU 11 determines whether a user operation (power button pressed) has been performed via operation unit 20 to disconnect the power to robot 1 (step S102). If it is determined that no power-off operation was performed (step S102; No), CPU 11 determines whether an external stimulus has been detected based on the detection results from various sensors, etc., based on sensor unit 50 (step S103). If it is determined that an external stimulus has been detected (step S103; Yes), CPU 11 determines whether robot 1 is performing an action (step S104). If it is determined that robot 1 is performing an action (step S104; Yes), CPU 11 performs a reaction action execution determination process (step S105).

[0040] like Figure 7As shown, in the response behavior execution judgment process, CPU11 determines whether the detected external stimulus is included in group A (refer to...). Figure 5 In step S201, if it is determined that the detected external stimulus is contained in group A (step S201; yes), CPU11 permits the execution of the response behavior corresponding to the external stimulus regardless of the behavior being executed (step S202).

[0041] In step S201, if it is determined that the detected external stimulus is not included in group A (step S201; no), CPU 11 determines whether the detected external stimulus is included in group B (refer to...). Figure 5 In step S203, if it is determined that the detected external stimulus is contained in group B (step S203; yes), CPU 11 determines whether the behavior being performed is a breathing behavior or an automatically generated action behavior (step S204). If it is determined that the behavior being performed is a breathing behavior or an automatically generated action behavior (step S204; yes), CPU 11 permits the execution of the response behavior corresponding to the external stimulus (step S205). In step S204, if it is determined that the behavior being performed is neither a breathing behavior nor an automatically generated action behavior (step S204; no), CPU 11 invalidates the execution of the response behavior corresponding to the external stimulus (step S206).

[0042] In step S203, if it is determined that the detected external stimulus is not included in group B (step S203; no), CPU11 determines that the detected external stimulus is included in group C (refer to...). Figure 5 In step S207, the CPU 11 determines whether the action being performed is a breathing action (step S208). If it is determined that the action being performed is a breathing action (step S208; yes), the CPU 11 permits the execution of the response action corresponding to the external stimulus (step S209). In step S208, if it is determined that the action being performed is not a breathing action (step S208; no), the CPU 11 invalidates the execution of the response action corresponding to the external stimulus (step S210).

[0043] If any of steps S202, S205, S206, S209, or S210 ends, CPU 11 terminates the reaction behavior execution decision process and returns the process to normal. Figure 6The motion control processing. After step S105, the CPU 11 determines whether to permit the execution of a reaction action corresponding to an external stimulus based on the result of the reaction action execution determination processing (step S106). If it is determined that the execution of the reaction action corresponding to the external stimulus is permitted (step S106; Yes), the CPU 11 cancels the action being executed by the robot 1 (step S107). After step S107, or in step S104, if it is determined that there is no action being executed by the robot 1 (step S104; No), the CPU 11 causes the robot 1 to start execution regarding the reaction action corresponding to the external stimulus (step S108). Here, the CPU 11 refers to the motion setting data 132 to determine the content of the reaction action corresponding to the external stimulus, and sends the control signal for performing the action to the drive unit 40 and the sound output unit 30.

[0044] In step S103, if it is determined that no external stimulus is detected (step S103; No), CPU 11 determines whether the execution conditions for spontaneous behavior are met (step S109). For example, if the state without external stimulus continues for a given time, CPU 11 determines that the execution conditions for spontaneous behavior are met. If the execution conditions for spontaneous behavior are met (step S109; Yes), CPU 11 causes robot 1 to begin execution regarding spontaneous behavior (step S110). Here, CPU 11 refers to motion setting data 132 to determine the content of spontaneous behavior and sends control signals for performing the behavior to drive unit 40 and sound output unit 30. For example, CPU 11 causes robot 1 to perform breathing actions and automatically generate motion actions.

[0045] If either step S108 or S110 ends, or if the branch in step S106 or S109 leads to "No", CPU 11 returns to step S102. In step S102, if it is determined that an operation to disconnect the power has been performed (step S102; Yes), the motion control process ends. Additionally, regarding power disconnection, it can also be added to group A as an external stimulus from the user.

[0046] like Figure 8 As shown, in the absence of external stimuli, CPU 11 allows for a certain interval, enabling robot 1 to perform breathing actions or automatically generate movements. Figure 8 In the example shown, CPU11 causes robot 1 to begin performing breathing actions at time t1 and end breathing actions at time t2. Figure 8The breathing actions between time t1 and time t2 shown correspond to "one breath". CPU 11 creates a certain interval starting from time t2, allowing robot 1 to begin executing breathing actions at time t3 and end them at time t4. CPU 11 also creates a certain interval starting from time t4, allowing robot 1 to begin automatically generating actions at time t5 and end them at time t6. Similarly, CPU 11 creates a certain interval starting from time t6, allowing robot 1 to begin executing breathing actions at time t7 and end them at time t8. Furthermore, the intervals between spontaneous actions (breathing actions and automatically generated actions) can be dynamically changed based on robot 1's charging status, fatigue level, etc.

[0047] like Figure 9 As shown, external stimuli can sometimes arise during the execution of a certain action. Figure 9 In the example shown, after the CPU 11 causes the robot 1 to begin executing breathing actions at time t11, a "touching event" is detected at time t12 during the execution of breathing actions. That is, the CPU 11 determines that the robot has been touched by a user based on the detection result of contact based on the touch sensor 51. Examples of "touching events" include horizontal stroking of the body, hugging and stroking the body, stroking the neck, horizontal stroking of the head, hugging and stroking the head, etc. At this time (time t12), the CPU 11 cancels the execution of breathing actions for the robot 1. Then, the CPU 11 causes the robot 1 to begin executing a response to the touch at time t13 and ends the response to the touch at time t14. The CPU 11 leaves a certain interval from time t14 and causes the robot 1 to begin automatically generating action actions at time t15. During the execution of automatically generating action actions, the CPU 11 detects a "loud sound event" at time t16. That is, the CPU 11 determines that a loud sound has been generated based on the detection result of a sound volume greater than a given value based on the microphone 55. At this point (time t16), CPU 11 cancels the automatic generation of actions for robot 1. Then, CPU 11 causes robot 1 to begin executing a surprised reaction (a reaction to a loud noise) at time t17 and end the surprised reaction at time t18.

[0048] Even when an external stimulus occurs during the execution of a certain action, CPU 11 will, based on the relationship between the external stimulus and the action being executed, prevent robot 1 from performing the corresponding processing (response behavior). In this case, CPU 11 will stop the execution of the action at the end, rendering the execution of the corresponding processing invalid. That is, robot 1 behaves the same as if it had not received an external stimulus.

[0049] As explained above, the robot control device 10 of this embodiment includes a CPU 11 for controlling the robot 1. The robot 1 is equipped with sensors for detecting external stimuli (touch sensor 51, accelerometer 52, gyroscope sensor 53, illuminance sensor 54, microphone 55, etc.). Whenever the CPU 11 causes the robot 1 to perform a process corresponding to an external stimulus, it will prevent the robot 1 from performing the corresponding process based on the type of behavior performed by the robot 1. Therefore, the CPU 11 can prevent false detection of external stimuli not intended by the user and suppress the robot 1 from performing unnatural actions. Consequently, the robot 1 can provide an appropriate response to the user's operation.

[0050] For example, the CPU 11 disables the execution of processing corresponding to external stimuli detected by sensors (sensor unit 50, etc.) without causing the robot 1 to perform processing corresponding to external stimuli. Thus, the CPU 11 can suppress unnatural behaviors based on the robot 1.

[0051] Furthermore, the CPU 11 determines whether to cause the robot 1 to perform processing corresponding to the external stimulus based on the group to which the external stimulus belongs. Thus, the CPU 11 can easily distinguish between external stimuli intended by the user and those not intended.

[0052] Furthermore, when the robot 1's actions are spontaneous, the CPU 11 causes the robot 1 to perform processing corresponding to external stimuli; when the robot 1's actions are not spontaneous, the CPU 11 does not cause the robot 1 to perform processing corresponding to external stimuli. During the period when the robot 1 is performing actions that are not spontaneous, due to the large amount of motion, the robot 1's own actions may lead it to interpret signals received from various sensors as given external stimuli. Therefore, by not causing the robot 1 to perform processing corresponding to external stimuli, the CPU 11 can prevent the robot 1 from reacting in ways the user did not intend. In particular, by determining whether to cause the robot 1 to perform processing corresponding to external stimuli based on whether the robot 1's actions are breathing movements, the CPU 1 can suppress the robot 1 from performing unnatural movements.

[0053] Furthermore, the robot 1 according to this embodiment includes the aforementioned robot control device 10 and various sensors (touch sensor 51, accelerometer 52, gyroscope sensor 53, illuminance sensor 54, and microphone 55). This prevents false detection of unintended external stimuli and enables the robot 1 to perform natural movements. Moreover, through the control method of the robot 1 according to this embodiment, or by the CPU 11 executing processing according to the program 131 according to this embodiment, false detection of unintended external stimuli can be prevented, and unnatural movements of the robot 1 can be suppressed.

[0054] Furthermore, this disclosure is not limited to the above-described embodiments, and various modifications are possible. In the above embodiments, as an example of preventing the robot 1 from performing processing corresponding to external stimuli based on the type of behavior executed by the robot 1, the execution of processing (reaction behavior) corresponding to external stimuli detected by sensors (sensor unit 50, etc.) is invalidated. Alternatively, the CPU 11 can prevent the robot 1 from performing processing corresponding to external stimuli by stopping the detection of external stimuli based on sensors (sensor unit 50, etc.). Thus, the CPU 11 can suppress unnatural reaction behavior based on the robot 1. Furthermore, the CPU 11 can also prevent the robot 1 from performing processing corresponding to external stimuli by reducing the sensitivity of the detection of external stimuli based on sensors (sensor unit 50, etc.). Reducing the sensitivity of the detection of external stimuli includes, for example, changing the threshold for detecting external stimuli. Thus, the CPU 11 can suppress unnatural reaction behavior based on the robot 1.

[0055] Furthermore, the emotional parameters related to the robot 1's emotions, personality parameters related to its personality, and growth parameters related to its growth can be stored in the storage unit 13 and updated sequentially, so that the robot 1 can act according to the values ​​of these emotional parameters, personality parameters, or growth parameters. As for the motion control of the robot 1 corresponding to each parameter, for example, the method described in JP Japanese Patent Application Publication No. 2022-142107 can be used.

[0056] Furthermore, the structure of robot 1 is not limited to Figures 1-3 Examples include robots that imitate real-life creatures such as humans, animals, birds, and fish; robots that imitate non-existent creatures such as dinosaurs; or robots that imitate fictional creatures.

[0057] Furthermore, in the above embodiment, an example was described where the robot control device 10 controlling the robot 1 is located inside the robot 1, but this is not a limitation. The robot 1 can also be controlled and operated by a robot control device located outside the robot 1. The external robot control device can be, for example, a smartphone, tablet, or laptop PC. In this case, the robot 1 operates according to control signals received from the external robot control device via the communication unit 60. The external robot control device performs the functions performed by the robot control device 10 of the above embodiment.

[0058] Furthermore, in the above description, an example of using non-volatile memory in storage unit 13 as a computer-readable medium for the program involved in this disclosure is disclosed, but it is not limited to this example. Other computer-readable media can include information recording media such as HDD (Hard Disk Drive), SSD (Solid State Drive), and CD-ROM. In addition, a carrier wave is also suitable as a medium for providing data of the program involved in this disclosure via a communication line.

[0059] Furthermore, the detailed structure and detailed movements of each component of robot 1 in the above embodiments can, of course, be appropriately modified without departing from the spirit of this disclosure. The embodiments of this disclosure have been described above, but the scope of this disclosure is not limited to the above embodiments, but includes the scope of the invention as stated in the claims and its equivalents.

Claims

1. A robot control device, comprising: Sensors that detect external stimuli; and The processing unit, when causing the robot to perform processing corresponding to the external stimulus, invalidates the execution of the processing corresponding to the external stimulus detected by the sensor, stops the detection of the external stimulus based on the sensor, or reduces the sensitivity of the detection of the external stimulus based on the sensor, based on the type of behavior performed by the robot.

2. The robot control device according to claim 1, wherein, The processing unit determines whether to cause the robot to perform processing corresponding to the external stimulus based on the group to which the external stimulus belongs.

3. The robot control device according to claim 1, wherein, Under given conditions, the processing unit enables the robot to perform spontaneous behaviors independent of the external stimuli. If the robot's behavior during execution is spontaneous, the processing unit causes the robot to perform processing corresponding to the external stimulus; if the robot's behavior during execution is not spontaneous, the processing unit does not cause the robot to perform processing corresponding to the external stimulus.

4. The robot control device according to claim 3, wherein, The spontaneous behavior described is the behavior of imitating breathing.

5. A robot possesses: The robot control device according to any one of claims 1 to 4; and The sensor.

6. A computer program product for enabling a computer in a robot control device that controls a robot equipped with sensors for detecting external stimuli to function as a processing unit. When the robot performs a process corresponding to the external stimulus, the processing unit, based on the type of behavior performed by the robot, invalidates the execution of the process corresponding to the external stimulus detected by the sensor, stops the detection of the external stimulus based on the sensor, or reduces the sensitivity of the detection of the external stimulus based on the sensor.

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